Braking system

ABSTRACT

A computer is programmed to determine a target brake torque that is below a preset holding brake torque and at least high enough to hold a vehicle at standstill; and upon detecting that a brake of the vehicle is applied and a speed of the vehicle is below a threshold, monotonically reduce a brake torque of the brake so that the brake torque reaches the target brake torque when the speed reaches substantially zero.

BACKGROUND

Vehicles are equipped with brakes for slowing or stopping the vehicles.One type of brake is a friction brake. Friction brakes provide stoppingpower through friction between a component rotating with a wheel and acomponent stationary relative to the vehicle, e.g., disc brakes, drumbrakes, band brakes. Another type of brake is a regenerative brake.Regenerative brakes transform the kinetic energy of the vehicle intoenergy stored in the batteries. Regenerative brakes are an electricmotor that may be the same electric motor as in a hybrid-electricpowertrain, or an additional electric motor coupled to the wheels.Regenerative brakes operate as generators, into which the forwardrotational motion of the wheels provides an input. By reversing thedirection of the torque on, for example, the electric motor to resistthe motion of the wheels, the electric motor functions as an electricalgenerator instead of as a motor, and the electric motor absorbs thekinetic energy of the vehicle through the torque and motion of thewheels.

When the brakes of a vehicle are applied to bring the vehicle frommoving to a standstill, an acceleration of the vehicle transitions fromnegative to zero. The transition of the acceleration from negative tozero can cause a “jerk,” which is defined as the derivative ofacceleration, to oscillate with relatively high amplitude. An occupantof the vehicle feels this jerk as a brief thrust forward and back at themoment the vehicle comes to a complete stop. This may be unexpected,unnerving, and/or unpleasant for the occupant. Not only is jerk aproblem in autonomous vehicles, for which the occupant does not requestthe braking, but in nonautonomous vehicles, e.g., where conventionally ahuman controls braking by activating a brake pedal, it is a problem thatbrakes cannot be controlled so that torque is applied to prevent orreduce jerk.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a block diagram of an example vehicle.

FIG. 2 is an example plot of vehicle speed and brake torque versus time.

FIG. 3 is a process flow diagram of an exemplary process for applyingbrake torque.

FIG. 4 is a process flow diagram of a second exemplary process forapplying brake torque.

FIG. 5 is a process flow diagram of a third exemplary process forapplying brake torque.

DETAILED DESCRIPTION

As disclosed herein it is possible to reduce an amplitude of the jerkexperienced by an occupant of a vehicle when the vehicle comes to astop. A brake torque applied by brakes of the vehicle is controlled by acomputer. The computer reduces the brake torque shortly before thevehicle comes to a complete stop. The computer determines a brakeschedule, i.e., amounts of torque applied over time during a brakingoperation, and instructs the brakes (i.e., an electronic brake controlunit) to reduce the brake torque according to the determined brakeschedule in a fine-grained manner that a human driver pushing a brakepedal could not replicate. The system increases the comfort of occupantsof the vehicle.

A computer is programmed to determine a target brake torque that isbelow a preset holding brake torque and at least high enough to hold avehicle at standstill; and upon detecting that a brake of the vehicle isapplied and a speed of the vehicle is below a threshold, monotonicallyreduce a brake torque of the brake so that the brake torque reaches thetarget brake torque when the speed reaches substantially zero.

The computer may be further programmed to, after the brake torquereaches the target brake torque, increase the brake torque to theholding brake torque.

The computer may be further programmed to determine a schedule of braketorques corresponding to a plurality of speeds between the threshold andzero to achieve the monotonic reduction of the brake torque to thetarget brake torque.

The computer may be further programmed to determine a maximum increaseof stopping distance resulting from the monotonic reduction of the braketorque; and to determine the target brake torque so that the vehiclestops within the maximum increase of stopping distance. Determining thetarget brake torque may be based on the threshold and an initial braketorque when the speed is at the threshold.

The target brake torque may be a minimum brake torque to hold thevehicle at standstill. The computer may be further programmed todetermine a maximum increase of stopping distance resulting from themonotonic reduction of the brake torque; and to determine the thresholdso that the vehicle stops within the maximum increase of stoppingdistance. Determining the threshold may be based on the target braketorque and an initial brake torque when the speed is at the threshold.

The computer may be further programmed to determine a modified stoppingdistance equal to a difference between a default stopping distance andan increase in stopping distance resulting from the monotonic reductionof brake torque; and to apply a brake torque of the brake before thespeed reaches the threshold based on the modified stopping distance. Thedefault stopping distance may be based on the threshold and an initialbrake torque when the speed is at the threshold.

A method includes determining a target brake torque that is below apreset holding brake torque and at least high enough to hold a vehicleat standstill; and upon detecting that a brake of the vehicle is appliedand a speed of the vehicle is below a threshold, monotonically reducinga brake torque of the brake so that the brake torque reaches the targetbrake torque when the speed reaches substantially zero.

The method may include, after the brake torque reaches the target braketorque, increasing the brake torque to the holding brake torque.

The method may include determining a schedule of brake torquescorresponding to a plurality of speeds between the threshold and zero toachieve the monotonic reduction of the brake torque to the target braketorque.

The method may include determining a maximum increase of stoppingdistance resulting from the monotonic reduction of the brake torque; anddetermining the target brake torque so that the vehicle stops within themaximum increase of stopping distance. Determining the target braketorque may be based on the threshold and an initial brake torque whenthe speed is at the threshold.

The target brake torque may be a minimum brake torque to hold thevehicle at standstill. The method may include determining a maximumincrease of stopping distance resulting from the monotonic reduction ofthe brake torque; and determining the threshold so that the vehiclestops within the maximum increase of stopping distance. Determining thethreshold may be based on the target brake torque and an initial braketorque when the speed is at the threshold.

The method may include determining a modified stopping distance equal toa difference between a default stopping distance and an increase instopping distance resulting from the monotonic reduction of braketorque; and applying a brake torque of the brake before the speedreaches the threshold based on the modified stopping distance. Thedefault stopping distance may be based on the threshold and an initialbrake torque when the speed is at the threshold.

With reference to FIG. 1, a vehicle 30 may be an autonomous vehicle. Forpurposes of this disclosure, autonomous operation is defined as drivingfor which each of a propulsion 34, a brake system 36, and a steering 38of the vehicle 30 are controlled by a computer 32; semi-autonomousoperation is defined as driving for which the computer 32 controls oneor two of the propulsion 34, brake system 36, and steering 38.

The computer 32 includes a processor, memory, etc. The memory storesinstructions executable by the processor as well as for electronicallystoring data and/or databases. The computer 32 may be a single computer,as shown in FIG. 1, or may be multiple computers.

The computer 32 may transmit signals through a communications network 40such as a controller area network (CAN) bus, Ethernet, WiFi, LocalInterconnect Network (LIN), onboard diagnostics connector (OBD-II),and/or by any other wired or wireless communications network. Thecomputer 32 may be in communication with the propulsion 34, the brakesystem 36, the steering 38, and sensors 42.

The propulsion 34 of the vehicle 30 generates energy and translates theenergy into motion of the vehicle 30. The propulsion 34 may be a knownvehicle propulsion subsystem, for example, a conventional powertrainincluding an internal-combustion engine coupled to a transmission thattransfers rotational motion to wheels; an electric powertrain includingbatteries, an electric motor, and a transmission that transfersrotational motion to the wheels; a hybrid powertrain including elementsof the conventional powertrain and the electric powertrain; or any othertype of propulsion. The propulsion 34 can include an electronic controlunit (ECU) or the like that is in communication with and receives inputfrom the computer 32 and/or a human driver. The human driver may controlthe propulsion 34 via, e.g., an accelerator pedal and/or a gear-shiftlever.

The brake system 36 is typically a known vehicle braking subsystem andresists the motion of the vehicle 30 to thereby slow and/or stop thevehicle 30. The brake system 36 includes brakes 44, which may befriction brakes; regenerative brakes; any other suitable type of brakes;or a combination. Friction brakes provide stopping power throughfriction between a component rotating with a wheel and a componentstationary relative to the vehicle 30, e.g., disc brakes, drum brakes,band brakes, or any other suitable type of friction-inducing brake.Regenerative brakes transform the kinetic energy of the vehicle 30 intoenergy stored in the batteries. Regenerative brakes are an electricmotor that may be the same electric motor as in the hybrid-electricpowertrain, or an additional electric motor coupled to the wheels.Regenerative brakes operate as generators, into which the forwardrotational motion of the wheels provides an input. By reversing thedirection of the torque on, for example, the electric motor to resistthe motion of the wheels, the electric motor functions as an electricalgenerator instead of as a motor, and the electric motor absorbs thekinetic energy of the vehicle 30 through the torque and motion of thewheels. The brake system 36 can include a brake controller, i.e., anelectronic control unit (ECU) or the like that is in communication withand receives input from the computer 32 and/or a human driver. The humandriver may control the brake system 36 via, e.g., a brake pedal.

The steering 38 is typically a known vehicle steering subsystem andcontrols the turning of wheels of the vehicle 30. The steering 38 may bea rack-and-pinion system with electric power-assisted steering, asteer-by-wire system, as both are known, or any other suitable system.The steering 38 can include an electronic control unit (ECU) or the likethat is in communication with and receives input from the computer 32and/or a human driver. The human driver may control the steering 38 via,e.g., a steering wheel.

With continued reference to FIG. 1, the vehicle 30 may include thesensors 42. The sensors 42 may provide data about operation of thevehicle 30 via the communications network 40, for example, wheel speed,wheel orientation, and engine and transmission data (e.g., temperature,fuel consumption, etc.). The sensors 42 may detect the position ororientation of the vehicle 30. For example, the sensors 42 may includeglobal positioning system (GPS) sensors; accelerometers such aspiezo-electric or microelectromechanical systems (MEMS); gyroscopes suchas rate, ring laser, or fiber-optic gyroscopes; inertial measurementsunits (IMU); and magnetometers. The sensors 42 may detect the externalworld. For example, the sensors 42 may include radar sensors, scanninglaser range finders, light detection and ranging (LIDAR) devices, andimage processing sensors such as cameras. The sensors 42 may includecommunications devices, for example, vehicle-to-infrastructure (V2I) orvehicle-to-vehicle (V2V) devices.

With reference to FIG. 2, a brake-torque curve 202 illustrates anexample of how the brakes 44 apply a brake torque T versus time t, and aspeed curve 204 illustrates the effect on a speed v of the vehicle 30.The computer 32 is programmed to detect that the brakes 44 are appliedand that the speed v of the vehicle 30 is below a threshold v₀, and,upon so detecting, monotonically reduce the brake torque T of the brakes44 so that the brake torque T reaches a target brake torque T_(target)when the speed v reaches substantially zero, as shown between a time toand a time t₁. As a consequence, an occupant of the vehicle 30 mayexperience reduced jerk. “Brake torque” is a twisting force applied bythe brakes 44 tending to counteract the rotation of wheels of thevehicle 30. How the brakes 44 apply the brake torque T depends on thetype of brakes 44; for example, for friction brakes, the computer 32 maychoose a brake pressure that will produce a brake torque T. The targetbrake torque T_(target) is a value of the brake torque T that is lessthan a holding brake torque T_(hold) and greater than or equal to aminimum brake torque T_(min). The holding brake torque T_(hold) is apreset value of the brake torque T for holding the vehicle 30 stationarywhen the vehicle 30 is not in park. The holding brake torque T_(hold)may be determined by applying a safety factor to a brake torque T thatholds the vehicle 30 stationary in experiments and/or simulations. Theminimum brake torque T_(min) is a lowest value of the brake torque Tthat will hold the vehicle 30 at standstill when the vehicle 30 is notin park. The minimum brake torque T_(min) may be determined byexperiments and/or simulations. Alternatively, the minimum brake torqueT_(min) may be calculated based on a temperature of the brakes 44, anangle of a slope on which the vehicle 30 is stopped, etc., and therelationship between the minimum brake torque T_(min) and thetemperature of the brakes 44, the angle of a slope on which the vehicle30 is stopped, etc. may be determined by experiments and/or simulations.Monotonic reduction from a first value of a quantity to a second valueof the quantity occurs when the quantity decreases from the first valuewithout increasing until the quantity reaches the second value.

To achieve the monotonic reduction of the brake torque T to the targetbrake torque T_(target), the computer 32 may be programmed to determinea schedule of brake torques T₁, T₂, etc. corresponding to a plurality ofspeeds v₁, v₂, etc. between the threshold v₀ and zero. The schedule maybe stored by the computer 32 as a table. The schedule may be in thespeed domain, that is, the brake torques T₁, T₂, etc. are paired withspeeds v₁, v₂, etc. rather than with, e.g., times t₁, t₂, etc. When thevehicle 30 reaches a speed v_(n), the computer 32 instructs the brakes44 to apply the brake torque T_(r), corresponding to the speed v_(n) onthe schedule.

With continued reference to FIG. 2, at the time t₁, the brake torque Treaches the target brake torque T_(target) substantially simultaneouslyto the speed v of the vehicle 30 reaching zero. The computer 32 may beprogrammed to, after the brake torque T reaches the target brake torqueT_(target), increase the brake torque T to the holding brake torqueT_(hold), as shown between the time t₁ and a time t₂.

FIG. 3 is a process flow diagram illustrating an exemplary process 300for applying brake torque. The memory of the computer 32 may storeprogramming for performing the steps of the process 300.

The process 300 begins in a block 305, in which the computer 32determines braking coefficients. The braking coefficients a₀, b₀ arevalues characteristic of the brake system 36 that are used in equationsbelow. The braking coefficients a₀, b₀ may be predetermined for thebrake system 36 and stored in memory. Alternatively, the brakingcoefficients a₀, b₀ may vary based on, e.g., the temperature of thebrake system 36, and the computer 32 may calculate the brakingcoefficients a₀, b₀ with a formula whereby the braking coefficients a₀,b₀ are a function of, e.g., the temperature of the brake system 36.

Next, in a decision block 310, the computer 32 determines whether thebrakes 44 of the vehicle 30 are applied. The brakes 44 may be applied bya human driver pushing on the brake pedal or by the computer 32 decidingto apply the brakes 44 based on autonomous-driving algorithms, as areknown. If the brakes 44 are not applied, the process 300 ends.

If the brakes 44 are applied, next, in a block 315, the computer 32determines the threshold v₀. The threshold v₀ may be predetermined andstored in the memory of the computer 32. The threshold v₀ may be chosenby using experiments and/or simulations to measure the effect of brakingat various speeds on the jerk.

Next, in a block 320, the computer 32 determines a maximum increaseΔs_(max) of stopping distance resulting from the monotonic reduction ofthe brake torque T, i.e., a maximum distance that the stopping distancecan be increased where reduction of the brake torque T is monotonic.Further, the maximum increase Δs_(max) of stopping distance is anadditional distance estimated to be safe, e.g., according to factorsdiscussed below, above a default stopping distance s_(brk). The defaultstopping distance s_(brk) may be determined by assuming constantdeceleration according to the formula:

$s_{brk} = \frac{- v_{0}^{2}}{2*\left( {{a_{0}T_{0}} + b_{0}} \right)}$in which T₀ is an initial brake torque when the speed v is at thethreshold v₀. Other assumptions than constant deceleration may producedifferent formulas. The maximum increase Δs_(max) of stopping distancemay be determined from, e.g., following distance, i.e., a distancebetween the vehicle 30 and a vehicle traveling in front of the vehicle30; speed v; see-ahead distance, i.e., a maximum distance in a directionof travel of the vehicle 30 that the sensors 42 can detect obstacles;the default stopping distance s_(brk), etc. The see-ahead distance maybe negatively affected by, e.g., fog, other vehicles, hills, buildings,and other obstacles and terrain over and around which the vehicle 30 istraveling. For example, the maximum increase Δs_(max) of stoppingdistance may be determined according to the formula:Δs _(max) =−s _(clear) −s _(brk)in which s_(clear) is the minimum of the following distance, thesee-ahead distance, and a distance to a nearest obstacle in thedirection of travel.

Next, in a block 325, the computer 32 determines the target brake torqueT_(target). The target brake torque T_(target) is less than the holdingbrake torque T_(hold) and greater than or equal to the minimum braketorque T_(min) to hold the vehicle 30 at standstill. The computer 32determines the target brake torque T_(target) so that the vehicle 30stops within a distance that is the maximum increase Δs_(max) ofstopping distance. The computer 32 determines the target brake torqueT_(target) based on the threshold v₀, the initial brake torque T₀, andthe maximum increase Δs_(max) of stopping distance, as well as thebraking coefficients a₀, b₀. The computer 32 may determine the targetbrake torque T_(target) by solving this formula:

${\Delta\; s_{\max}} = {{\frac{- v_{0}^{2}}{\left( {\frac{a_{0}\left( {T_{target} + T_{0}} \right)}{2} + b_{0}} \right)^{2}}\left\lbrack {{\left( {{\frac{1}{3}T_{target}} + {\frac{1}{6}T_{0}}} \right)a_{0}} + {\frac{1}{2}b_{0}}} \right\rbrack} + \frac{v_{0}^{2}}{2*\left( {{a_{0}T_{0}} + b_{0}} \right)}}$This formula represents a difference between the default stoppingdistance s_(brk) and a modified stopping distance s′_(brk), and sets thedifference equal to the maximum increase Δs_(max) of stopping distance.The formula assumes constant deceleration for the default stoppingdistance s_(brk) and linearly decreasing brake torque T for the modifiedstopping distance s′_(brk). Other patterns of brake torque T besidesconstant deceleration may be used for the default stopping distances_(brk). Other patterns of brake torque T besides linear decay may beused for the modified stopping distance s′_(brk) that are stillmonotonically decreasing.

Next, in a block 330, the computer 32 determines a schedule of braketorques T₁, T₂, etc. corresponding to a plurality of speeds v₁, v₂, etc.between the threshold v₀ and zero to achieve the monotonic reduction ofthe brake torque T from the initial brake torque T₀ to the target braketorque T_(target). The schedule of brake torques T₁, T₂, etc. may belinearly decaying or may use a different pattern that is monotonicallydecreasing. The schedule may be stored by the computer 32 as a table orthe like. The schedule may be in the speed domain, that is, the braketorques T₁, T₂, etc. are paired with speeds v₁, v₂, etc. rather thanwith, e.g., times t₁, t₂, etc.

Next, in a decision block 335, the computer 32 determines whether thespeed v of the vehicle 30 is below the threshold v₀. If the speed v isabove the threshold v₀, the process 300 ends.

If the speed v of the vehicle 30 is below the threshold v₀, next, in adecision block 340, the computer 32 determines whether an anti-lockbrake system (not shown) is engaged. If the anti-lock brake system isengaged, the process 300 ends.

If the anti-lock brake system is off, next, in a decision block 345, thecomputer 32 determines whether an emergency brake (not shown) isengaged. The emergency brake is an auxiliary brake separate from thebrake system 36 and may be controlled by, e.g., a lever in the vehicle30. The emergency brake may also be referred to as a parking brake or asa handbrake. If the emergency brake is engaged, the process 300 ends.

If the emergency brake is off, next, in a block 350, the computer 32instructs the brakes 44 to apply the brake torque T according to theschedule, i.e., monotonically reduces the brake torque T of the brakes44 so that the brake torque T reaches the target brake torque T_(target)when the speed v reaches substantially zero.

Next, in a decision block 355, the computer 32 determines whether thebrake torque T has reached the target brake torque T_(target), i.e.,whether the vehicle 30 has stopped. If the vehicle 30 has not stopped,the process 300 returns to the decision block 335; in other words, aslong as the speed v is below the threshold v₀, the anti-lock brake isoff, and the emergency brake is off, the computer 32 continues to applythe brake torque T according to the schedule.

If the vehicle 30 has stopped, i.e., after the brake torque T reachesthe target brake torque T_(target), next, in a block 360, the computer32 increases the brake torque T to the holding brake torque T_(hold).After the block 360, the process 300 ends.

FIG. 4 is a process flow diagram illustrating an exemplary process 400for applying brake torque. The memory of the computer 32 may storeprogramming for performing the steps of the process 400.

The process 400 begins in a block 405, in which the computer 32estimates the braking coefficients a₀, b₀, as described above withrespect to the block 305 of the process 300.

Next, in a decision block 410, the computer 32 determines whether thebrakes 44 of the vehicle 30 are applied, as described above with respectto the decision block 310 of the process 300. If the brakes 44 are notapplied, the process 400 ends.

If the brakes 44 are applied, next, in a block 415, the computer 32determines the target brake torque T_(target). The target brake torqueT_(target) is set to equal the minimum brake torque T_(min), i.e., alowest value of the brake torque T that will hold the vehicle 30 atstandstill when the vehicle 30 is not in park.

Next, in a block 420, the computer 32 determines a maximum increaseΔs_(max) of stopping distance resulting from the monotonic reduction ofthe brake torque T, as described above with respect to the block 320 ofthe process 300.

Next, in a block 425, the computer 32 determines the threshold v₀ sothat the vehicle 30 stops within the maximum increase Δs_(max) ofstopping distance. The computer 32 determines the threshold v₀ based onthe target brake torque T_(target), the initial brake torque T₀, and themaximum increase Δs_(max) of stopping distance, as well as the brakingcoefficients a₀, b₀. The computer 32 may determine the threshold v₀ bysolving this formula:

${\Delta\; s_{\max}} = {{\frac{- v_{0}^{2}}{\left( {\frac{a_{0}\left( {T_{target} + T_{0}} \right)}{2} + b_{0}} \right)^{2}}\left\lbrack {{\left( {{\frac{1}{3}T_{target}} + {\frac{1}{6}T_{0}}} \right)a_{0}} + {\frac{1}{2}b_{0}}} \right\rbrack} + \frac{v_{0}^{2}}{2*\left( {{a_{0}T_{0}} + b_{0}} \right)}}$This formula represents a difference between the default stoppingdistance s_(brk) and the modified stopping distance s′_(brk). Theformula assumes constant deceleration for the default stopping distances_(brk) and linearly decreasing brake torque T for the modified stoppingdistance s′_(brk). Other patterns of brake torque T besides constantdeceleration may be used for the default stopping distance s_(brk).Other patterns of brake torque T besides linear decay may be used forthe modified stopping distance s_(brk) that are still monotonicallydecreasing.

Next, in a block 430, the computer 32 determines a schedule of braketorques T₁, T₂, etc., corresponding to a plurality of speeds v₁, v₂,etc. between the threshold v₀ and zero to achieve the monotonicreduction of the brake torque T from the initial brake torque T₀ to thetarget brake torque T_(target), as described above with respect to theblock 330 of the process 300.

Next, in a decision block 435, the computer 32 determines whether thespeed v of the vehicle 30 is below the threshold v₀. If the speed v isabove the threshold v₀, the process 400 ends.

If the speed v of the vehicle 30 is below the threshold v₀, next, in adecision block 440, the computer 32 determines whether the anti-lockbrake system is engaged. If the anti-lock brake system is engaged, theprocess 400 ends.

If the anti-lock brake system is off, next, in a decision block 445, thecomputer 32 determines whether an emergency brake is engaged. If theemergency brake is engaged, the process 400 ends.

If the emergency brake is off, next, in a block 450, the computer 32instructs the brakes 44 to apply the brake torque T according to theschedule, i.e., monotonically reduces the brake torque T of the brakes44 so that the brake torque T reaches the target brake torque T_(target)when the speed v reaches substantially zero.

Next, in a decision block 455, the computer 32 determines whether thebrake torque T has reached the target brake torque T_(target), i.e.,whether the vehicle 30 has stopped. If the vehicle 30 has not stopped,the process 400 returns to the decision block 435; in other words, aslong as the speed v is below the threshold v₀, the anti-lock brake isoff, and the emergency brake is off, the computer 32 continues to applythe brake torque T according to the schedule.

If the vehicle 30 has stopped, i.e., after the brake torque T reachesthe target brake torque T_(target), next, in a block 460, the computer32 increases the brake torque T to the holding brake torque T_(hold).After the block 460, the process 400 ends.

FIG. 5 is a process flow diagram illustrating an exemplary process 500for applying brake torque. The computer 32 may be programmed to performthe steps of the process 500.

The process 500 begins in a block 505, in which the computer 32estimates the braking coefficients a₀, b₀, as described above withrespect to the block 305 of the process 300.

Next, in a decision block 510, the computer 32 determines whether thebrakes 44 of the vehicle 30 are applied, as described above with respectto the decision block 310 of the process 300. If the brakes 44 are notapplied, the process 500 ends.

If the brakes 44 are applied, next, in a block 515, the computer 32determines the threshold v₀, as described above with respect to a block315 of the process 300.

Next, in a block 520, the computer 32 determines the target brake torqueT_(target). The target brake torque T_(target) is set to equal theminimum brake torque T_(min), i.e., a lowest value of the brake torque Tthat will hold the vehicle 30 at standstill when the vehicle 30 is notin park.

Next, in a block 525, the computer 32 determines the default stoppingdistance s_(brk) based on the threshold v₀ and the initial brake torqueT₀, as well as the braking coefficients a₀, b₀. The default stoppingdistance s_(brk) may be determined, e.g., from autonomous-drivingalgorithms of the computer 32, as are known. Alternatively, the defaultstopping distance s_(brk) may be determined by assuming constantdeceleration according to this formula:

$s_{brk} = \frac{- v_{0}^{2}}{2*\left( {{a_{0}T_{0}} + b_{0}} \right)}$

Next, the computer 32 determines a modified stopping distance s′_(brk)equal to a difference between the default stopping distance s_(brk) andthe maximum increase Δs_(max) of stopping distance resulting from themonotonic reduction of brake torque:s′ _(brk) ≡s′ _(brk) −Δs _(max)The maximum increase Δs_(max) of stopping distance may be calculatedaccording to the formula described above with respect to the block 325of the process 300.

Next, in a block 535, the computer 32 determines a schedule of braketorques T₁, T₂, etc. corresponding to a plurality of speeds v₁, v₂, etc.between the threshold v₀ and zero to achieve the monotonic reduction ofthe brake torque T from the initial brake torque T₀ to the target braketorque T_(target), as described above with respect to the block 330 ofthe process 300.

Next, in a block 540, the computer 32 applies a brake torque T beforethe speed reaches the threshold v₀ based on the modified stoppingdistance s′_(brk). The brake torque T may be determined, e.g., fromautonomous-driving algorithms of the computer 32. Alternatively oradditionally, the brake torque T may be determined by assuming constantdeceleration and solving this formula:

$s_{brk}^{\prime} = \frac{- v_{current}^{2}}{2*\left( {{a_{0}T} + b_{0}} \right)}$in which v_(current) is a current speed of the vehicle 30.

Next, in a decision block 545, the computer 32 determines whether thespeed v of the vehicle 30 is below the threshold v₀. If the speed v isabove the threshold v₀, the process 500 ends.

If the speed v of the vehicle 30 is below the threshold v₀, next, in adecision block 550, the computer 32 determines whether the anti-lockbrake system is engaged. If the anti-lock brake system is engaged, theprocess 500 ends.

If the anti-lock brake system is off, next, in a decision block 555, thecomputer 32 determines whether an emergency brake is engaged. If theemergency brake is engaged, the process 500 ends.

If the emergency brake is off, next, in a block 560, the computer 32instructs the brakes 44 to apply the brake torque T according to theschedule, i.e., monotonically reduces the brake torque T of the brakes44 so that the brake torque T reaches the target brake torque T_(target)when the speed v reaches substantially zero.

Next, in a decision block 565, the computer 32 determines whether thebrake torque T has reached the target brake torque T_(target), i.e.,whether the vehicle 30 has stopped. If the vehicle 30 has not stopped,the process 500 returns to the decision block 545; in other words, aslong as the speed v is below the threshold v₀, the anti-lock brake isoff, and the emergency brake is off, the computer 32 continues to applythe brake torque T according to the schedule.

If the vehicle 30 has stopped, i.e., after the brake torque T reachesthe target brake torque T_(target), next, in a block 570, the computer32 increases the brake torque T to the holding brake torque T_(hold).After the block 570, the process 500 ends.

In general, the computing systems and/or devices described may employany of a number of computer operating systems, including, but by nomeans limited to, versions and/or varieties of the Ford Sync®application, AppLink/Smart Device Link middleware, the MicrosoftAutomotive® operating system, the Microsoft Windows® operating system,the Unix operating system (e.g., the Solaris® operating systemdistributed by Oracle Corporation of Redwood Shores, Calif.), the AIXUNIX operating system distributed by International Business Machines ofArmonk, N.Y., the Linux operating system, the Mac OSX and iOS operatingsystems distributed by Apple Inc. of Cupertino, Calif., the BlackBerryOS distributed by Blackberry, Ltd. of Waterloo, Canada, and the Androidoperating system developed by Google, Inc. and the Open HandsetAlliance, or the QNX® CAR Platform for Infotainment offered by QNXSoftware Systems. Examples of computing devices include, withoutlimitation, an on-board vehicle computer, a computer workstation, aserver, a desktop, notebook, laptop, or handheld computer, or some othercomputing system and/or device.

Computing devices generally include computer-executable instructions,where the instructions may be executable by one or more computingdevices such as those listed above. Computer executable instructions maybe compiled or interpreted from computer programs created using avariety of programming languages and/or technologies, including, withoutlimitation, and either alone or in combination, Java™, C, C++, Matlab,Simulink, Stateflow, Visual Basic, Java Script, Perl, HTML, etc. Some ofthese applications may be compiled and executed on a virtual machine,such as the Java Virtual Machine, the Dalvik virtual machine, or thelike. In general, a processor (e.g., a microprocessor) receivesinstructions, e.g., from a memory, a computer readable medium, etc., andexecutes these instructions, thereby performing one or more processes,including one or more of the processes described herein. Suchinstructions and other data may be stored and transmitted using avariety of computer readable media. A file in a computing device isgenerally a collection of data stored on a computer readable medium,such as a storage medium, a random access memory, etc.

A computer-readable medium (also referred to as a processor-readablemedium) includes any non-transitory (e.g., tangible) medium thatparticipates in providing data (e.g., instructions) that may be read bya computer (e.g., by a processor of a computer). Such a medium may takemany forms, including, but not limited to, non-volatile media andvolatile media. Non-volatile media may include, for example, optical ormagnetic disks and other persistent memory. Volatile media may include,for example, dynamic random access memory (DRAM), which typicallyconstitutes a main memory. Such instructions may be transmitted by oneor more transmission media, including coaxial cables, copper wire andfiber optics, including the wires that comprise a system bus coupled toa processor of a ECU. Common forms of computer-readable media include,for example, a floppy disk, a flexible disk, hard disk, magnetic tape,any other magnetic medium, a CD-ROM, DVD, any other optical medium,punch cards, paper tape, any other physical medium with patterns ofholes, a RAM, a PROM, an EPROM, a FLASH-EEPROM, any other memory chip orcartridge, or any other medium from which a computer can read.

Databases, data repositories or other data stores described herein mayinclude various kinds of mechanisms for storing, accessing, andretrieving various kinds of data, including a hierarchical database, aset of files in a file system, an application database in a proprietaryformat, a relational database management system (RDBMS), etc. Each suchdata store is generally included within a computing device employing acomputer operating system such as one of those mentioned above, and areaccessed via a network in any one or more of a variety of manners. Afile system may be accessible from a computer operating system, and mayinclude files stored in various formats. An RDBMS generally employs theStructured Query Language (SQL) in addition to a language for creating,storing, editing, and executing stored procedures, such as the PL/SQLlanguage mentioned above.

In some examples, system elements may be implemented ascomputer-readable instructions (e.g., software) on one or more computingdevices (e.g., servers, personal computers, etc.), stored on computerreadable media associated therewith (e.g., disks, memories, etc.). Acomputer program product may comprise such instructions stored oncomputer readable media for carrying out the functions described herein.

In the drawings, the same reference numbers indicate the same elements.Further, some or all of these elements could be changed. With regard tothe media, processes, systems, methods, heuristics, etc. describedherein, it should be understood that, although the steps of suchprocesses, etc. have been described as occurring according to a certainordered sequence, such processes could be practiced with the describedsteps performed in an order other than the order described herein. Itfurther should be understood that certain steps could be performedsimultaneously, that other steps could be added, or that certain stepsdescribed herein could be omitted. In other words, the descriptions ofprocesses herein are provided for the purpose of illustrating certainembodiments, and should in no way be construed so as to limit theclaims.

Accordingly, it is to be understood that the above description isintended to be illustrative and not restrictive. Many embodiments andapplications other than the examples provided would be apparent to thoseof skill in the art upon reading the above description. The scope of theinvention should be determined, not with reference to the abovedescription, but should instead be determined with reference to theappended claims, along with the full scope of equivalents to which suchclaims are entitled. It is anticipated and intended that futuredevelopments will occur in the arts discussed herein, and that thedisclosed systems and methods will be incorporated into such futureembodiments. In sum, it should be understood that the invention iscapable of modification and variation and is limited only by thefollowing claims.

All terms used in the claims are intended to be given their plain andordinary meanings as understood by those skilled in the art unless anexplicit indication to the contrary in made herein. In particular, useof the singular articles such as “a,” “the,” “said,” etc. should be readto recite one or more of the indicated elements unless a claim recitesan explicit limitation to the contrary.

As used herein, the adverb “substantially” modifying an adjective meansthat a shape, structure, measurement, value, calculation, etc. maydeviate from an exact described geometry, distance, measurement, value,calculation, etc., because of imperfections in materials, machining,manufacturing, data collector measurements, computations, processingtime, communications time, etc.

What is claimed is:
 1. A computer comprising a processor and a memorystoring instructions executable by the processor to: upon detecting thata brake of a vehicle is applied, determine a target brake torque that isbelow a preset holding brake torque and at least as great as a minimumbrake torque, wherein the minimum brake torque is a lowest value of thebrake torque that will hold the vehicle at standstill; upon detectingthat the brake is applied, determine at least one of a threshold of aspeed of the vehicle or a modified stopping distance of the vehicle,wherein determining either the target brake torque or the at least oneof the threshold or the modified stopping distance is based on a currentclear distance of the vehicle in a direction of travel of the vehicle,wherein the clear distance is a minimum of at least one of a followingdistance, a see-ahead distance, and a distance to a nearest obstacle;and then, upon detecting that the speed of the vehicle is below thethreshold, monotonically reduce a brake torque of the brake so that thebrake torque reaches the target brake torque when the speed reachessubstantially zero at the modified stopping distance.
 2. The computer ofclaim 1, further programmed to, after the brake torque reaches thetarget brake torque, increase the brake torque to the holding braketorque.
 3. The computer of claim 1, further programmed to determine aschedule of brake torques corresponding to a plurality of speeds betweenthe threshold and zero to achieve the monotonic reduction of the braketorque to the target brake torque.
 4. The computer of claim 1, furtherprogrammed to determine a maximum increase of stopping distanceresulting from the monotonic reduction of the brake torque; and todetermine the target brake torque so that the vehicle stops within themaximum increase of stopping distance.
 5. The computer of claim 4,wherein determining the target brake torque is based on the thresholdand an initial brake torque when the speed is at the threshold.
 6. Thecomputer of claim 1, wherein the target brake torque is the minimumbrake torque.
 7. The computer of claim 6, further programmed todetermine a maximum increase of stopping distance resulting from themonotonic reduction of the brake torque; and to determine the thresholdso that the vehicle stops within the maximum increase of stoppingdistance.
 8. The computer of claim 7, wherein determining the thresholdis based on the target brake torque and an initial brake torque when thespeed is at the threshold.
 9. The computer of claim 6, furtherprogrammed to determine the modified stopping distance equal to adifference between a default stopping distance and an increase instopping distance resulting from the monotonic reduction of braketorque; and to apply a brake torque of the brake before the speedreaches the threshold based on the modified stopping distance.
 10. Thecomputer of claim 9, wherein the default stopping distance is based onthe threshold and an initial brake torque when the speed is at thethreshold.
 11. A method comprising: upon detecting that a brake of avehicle is applied, determining a target brake torque that is below apreset holding brake torque and at least as great as a minimum braketorque, wherein the minimum brake torque is a lowest value of the braketorque that will hold a vehicle at standstill; upon detecting that thebrake is applied, determining at least one of a threshold of a speed ofthe vehicle or a modified stopping distance of the vehicle, whereindetermining either the target brake torque or the at least one of thethreshold or the modified stopping distance is based on a current cleardistance of the vehicle in a direction of travel of the vehicle, whereinthe clear distance is a minimum of at least one of a following distance,a see-ahead distance, and a distance to a nearest obstacle; and then,upon detecting that the speed of the vehicle is below the threshold,monotonically reducing a brake torque of the brake so that the braketorque reaches the target brake torque when the speed reachessubstantially zero at the modified stopping distance.
 12. The method ofclaim 11, further comprising, after the brake torque reaches the targetbrake torque, increasing the brake torque to the holding brake torque.13. The method of claim 11, further comprising determining a schedule ofbrake torques corresponding to a plurality of speeds between thethreshold and zero to achieve the monotonic reduction of the braketorque to the target brake torque.
 14. The method of claim 11, furthercomprising determining a maximum increase of stopping distance resultingfrom the monotonic reduction of the brake torque; and determining thetarget brake torque so that the vehicle stops within the maximumincrease of stopping distance.
 15. The method of claim 14, whereindetermining the target brake torque is based on the threshold and aninitial brake torque when the speed is at the threshold.
 16. The methodof claim 11, wherein the target brake torque is the minimum braketorque.
 17. The method of claim 16, further comprising determining amaximum increase of stopping distance resulting from the monotonicreduction of the brake torque; and determining the threshold so that thevehicle stops within the maximum increase of stopping distance.
 18. Themethod of claim 17, wherein determining the threshold is based on thetarget brake torque and an initial brake torque when the speed is at thethreshold.
 19. The method of claim 16, further comprising determiningthe modified stopping distance equal to a difference between a defaultstopping distance and an increase in stopping distance resulting fromthe monotonic reduction of brake torque; and applying a brake torque ofthe brake before the speed reaches the threshold based on the modifiedstopping distance.
 20. The method of claim 19, wherein the defaultstopping distance is based on the threshold and an initial brake torquewhen the speed is at the threshold.